Need some help with setting up my control rig

I'm trying to set up a control rig using the 3d model of the mechanism I designed for Craig's character animatronics class.

I think I need to set it up like the eye mechanism Craig talked about in the third class (from 1:41:20 - 1:48:40), but it's not clear to me how to set up the constraints. I've tried simplifying things, by focusing on one servo / movement, but even that is proving to be quite a challenge.

Is there any way I could get some help with this? Maybe Craig can give me some pointers? I can send him the model by email if that helps.